<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: registration/include/pcl/registration/joint_icp.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('joint__icp_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">joint_icp.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *    copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *    disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *    with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *    contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *    from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_JOINT_ICP_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_JOINT_ICP_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">// PCL includes</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/icp.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_joint_iterative_closest_point.html">   55</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_joint_iterative_closest_point.html">JointIterativeClosestPoint</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint</a>&lt;PointSource, PointTarget, Scalar&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::PointCloudSource</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::PointCloudTarget</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::Ptr PointCloudTargetPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::ConstPtr PointCloudTargetConstPtr;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">KdTree</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::KdTree&lt;PointTarget&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">KdTreeReciprocal</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> KdTree::Ptr KdTreeReciprocalPtr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> PointIndices::Ptr PointIndicesPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">typedef</span> PointIndices::ConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;JointIterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const JointIterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;</a> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimation</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> CorrespondenceEstimation::Ptr CorrespondenceEstimationPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> CorrespondenceEstimation::ConstPtr CorrespondenceEstimationConstPtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::reg_name_</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::getClassName</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::setInputSource</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::input_</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::indices_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::target_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::nr_iterations_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::max_iterations_</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::previous_transformation_</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::final_transformation_</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::transformation_</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::transformation_epsilon_</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::converged_</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::corr_dist_threshold_</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::inlier_threshold_</a>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::min_number_correspondences_</a>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::update_visualizer_</a>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::euclidean_fitness_epsilon_</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::correspondences_</a>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::transformation_estimation_</a>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::correspondence_estimation_</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::correspondence_rejectors_</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::use_reciprocal_correspondence_</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::convergence_criteria_</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::source_has_normals_</a>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::target_has_normals_</a>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::need_source_blob_</a>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::need_target_blob_</a>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::Matrix4 Matrix4;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_joint_iterative_closest_point.html#aab2c1114b8a3243a21cd56906662cb60">  119</a></span>&#160;      <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#aab2c1114b8a3243a21cd56906662cb60">JointIterativeClosestPoint</a> ()</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;</a> ();</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">reg_name_</a> = <span class="stringliteral">&quot;JointIterativeClosestPoint&quot;</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      };</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1_joint_iterative_closest_point.html#ae566e5542c36b88d8f78032d4030ce4d">  126</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#ae566e5542c36b88d8f78032d4030ce4d">~JointIterativeClosestPoint</a> () {}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_joint_iterative_closest_point.html#aa85301e9c6b5f2fb5811b9ed23572e62">  133</a></span>&#160;      <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#aa85301e9c6b5f2fb5811b9ed23572e62">setInputSource</a> (<span class="keyword">const</span> PointCloudSourceConstPtr&amp; <span class="comment">/*cloud*/</span>)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::setInputSource] Warning; JointIterativeClosestPoint expects multiple clouds. Please use addInputSource.&quot;</span>, </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            <a class="code" href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_joint_iterative_closest_point.html#a3bc7b3d35642538cfb3221356fa3e6e0">  145</a></span>&#160;      <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#a3bc7b3d35642538cfb3221356fa3e6e0">addInputSource</a> (<span class="keyword">const</span> PointCloudSourceConstPtr &amp;cloud)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="comment">// Set the parent InputSource, just to get all cached values (e.g. the existence of normals).</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordflow">if</span> (sources_.empty ())</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          <a class="code" href="classpcl_1_1_iterative_closest_point.html#ad5215429e057c8760ac48e9bdb09b12c">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::setInputSource</a> (cloud);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        sources_.push_back (cloud);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1_joint_iterative_closest_point.html#ad6a9f69d503110161c920e3c0185530c">  157</a></span>&#160;      <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#ad6a9f69d503110161c920e3c0185530c">setInputTarget</a> (<span class="keyword">const</span> PointCloudTargetConstPtr&amp; <span class="comment">/*cloud*/</span>)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::setInputTarget] Warning; JointIterativeClosestPoint expects multiple clouds. Please use addInputTarget.&quot;</span>, </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;            <a class="code" href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1_joint_iterative_closest_point.html#afaf2657a7501d3a83130b2fd79876705">  169</a></span>&#160;      <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#afaf2657a7501d3a83130b2fd79876705">addInputTarget</a> (<span class="keyword">const</span> PointCloudTargetConstPtr &amp;cloud)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="comment">// Set the parent InputTarget, just to get all cached values (e.g. the existence of normals).</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordflow">if</span> (targets_.empty ())</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          <a class="code" href="classpcl_1_1_iterative_closest_point.html#a8876f743cc31471a975e950e66c179d4">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::setInputTarget</a> (cloud);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        targets_.push_back (cloud);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_joint_iterative_closest_point.html#a91792123c6770794d22b73cc5bd1c540">  185</a></span>&#160;      <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#a91792123c6770794d22b73cc5bd1c540">addCorrespondenceEstimation</a> (CorrespondenceEstimationPtr ce)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        correspondence_estimations_.push_back (ce);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classpcl_1_1_joint_iterative_closest_point.html#a69f7e30e383d0943aa383e933cf84932">  193</a></span>&#160;      <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#a69f7e30e383d0943aa383e933cf84932">clearInputSources</a> ()</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      { sources_.clear (); }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1_joint_iterative_closest_point.html#af498fe8ed571ec7563a61eca96497046">  199</a></span>&#160;      <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#af498fe8ed571ec7563a61eca96497046">clearInputTargets</a> ()</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      { targets_.clear (); }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1_joint_iterative_closest_point.html#a0cc90714da0ff7b2b303649928677803">  205</a></span>&#160;      <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#a0cc90714da0ff7b2b303649928677803">clearCorrespondenceEstimations</a> ()</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      { correspondence_estimations_.clear (); }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#a0de169e63fec513a36d93f3912e790b7">computeTransformation</a> (PointCloudSource &amp;output, <span class="keyword">const</span> Matrix4 &amp;guess);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <a class="code" href="classpcl_1_1_joint_iterative_closest_point.html#a3a115a1c3195878088cef67a9bb32120">determineRequiredBlobData</a> ();</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      std::vector&lt;PointCloudSourceConstPtr&gt; sources_;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      std::vector&lt;PointCloudTargetConstPtr&gt; targets_;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      std::vector&lt;CorrespondenceEstimationPtr&gt; correspondence_estimations_;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  };</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/joint_icp.hpp&gt;</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_JOINT_ICP_H_</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html">pcl::IterativeClosestPoint</a></div><div class="ttdoc">IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm....</div><div class="ttdef"><b>Definition:</b> icp.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a8876f743cc31471a975e950e66c179d4"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a8876f743cc31471a975e950e66c179d4">pcl::IterativeClosestPoint::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> icp.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_ad5215429e057c8760ac48e9bdb09b12c"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#ad5215429e057c8760ac48e9bdb09b12c">pcl::IterativeClosestPoint::setInputSource</a></div><div class="ttdeci">virtual void setInputSource(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> icp.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html">pcl::JointIterativeClosestPoint</a></div><div class="ttdoc">JointIterativeClosestPoint extends ICP to multiple frames which share the same transform....</div><div class="ttdef"><b>Definition:</b> joint_icp.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_a0cc90714da0ff7b2b303649928677803"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#a0cc90714da0ff7b2b303649928677803">pcl::JointIterativeClosestPoint::clearCorrespondenceEstimations</a></div><div class="ttdeci">void clearCorrespondenceEstimations()</div><div class="ttdoc">Reset my list of correspondence estimation methods.</div><div class="ttdef"><b>Definition:</b> joint_icp.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_a0de169e63fec513a36d93f3912e790b7"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#a0de169e63fec513a36d93f3912e790b7">pcl::JointIterativeClosestPoint::computeTransformation</a></div><div class="ttdeci">virtual void computeTransformation(PointCloudSource &amp;output, const Matrix4 &amp;guess)</div><div class="ttdoc">Rigid transformation computation method with initial guess.</div><div class="ttdef"><b>Definition:</b> joint_icp.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_a3a115a1c3195878088cef67a9bb32120"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#a3a115a1c3195878088cef67a9bb32120">pcl::JointIterativeClosestPoint::determineRequiredBlobData</a></div><div class="ttdeci">void determineRequiredBlobData()</div><div class="ttdoc">Looks at the Estimators and Rejectors and determines whether their blob-setter methods need to be cal...</div><div class="ttdef"><b>Definition:</b> joint_icp.hpp:283</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_a3bc7b3d35642538cfb3221356fa3e6e0"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#a3bc7b3d35642538cfb3221356fa3e6e0">pcl::JointIterativeClosestPoint::addInputSource</a></div><div class="ttdeci">void addInputSource(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Add a source cloud to the joint solver</div><div class="ttdef"><b>Definition:</b> joint_icp.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_a69f7e30e383d0943aa383e933cf84932"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#a69f7e30e383d0943aa383e933cf84932">pcl::JointIterativeClosestPoint::clearInputSources</a></div><div class="ttdeci">void clearInputSources()</div><div class="ttdoc">Reset my list of input sources</div><div class="ttdef"><b>Definition:</b> joint_icp.h:193</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_a91792123c6770794d22b73cc5bd1c540"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#a91792123c6770794d22b73cc5bd1c540">pcl::JointIterativeClosestPoint::addCorrespondenceEstimation</a></div><div class="ttdeci">void addCorrespondenceEstimation(CorrespondenceEstimationPtr ce)</div><div class="ttdoc">Add a manual correspondence estimator If you choose to do this, you must add one for each input sourc...</div><div class="ttdef"><b>Definition:</b> joint_icp.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_aa85301e9c6b5f2fb5811b9ed23572e62"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#aa85301e9c6b5f2fb5811b9ed23572e62">pcl::JointIterativeClosestPoint::setInputSource</a></div><div class="ttdeci">virtual void setInputSource(const PointCloudSourceConstPtr &amp;)</div><div class="ttdoc">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> joint_icp.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_aab2c1114b8a3243a21cd56906662cb60"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#aab2c1114b8a3243a21cd56906662cb60">pcl::JointIterativeClosestPoint::JointIterativeClosestPoint</a></div><div class="ttdeci">JointIterativeClosestPoint()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> joint_icp.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_ad6a9f69d503110161c920e3c0185530c"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#ad6a9f69d503110161c920e3c0185530c">pcl::JointIterativeClosestPoint::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudTargetConstPtr &amp;)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> joint_icp.h:157</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_ae566e5542c36b88d8f78032d4030ce4d"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#ae566e5542c36b88d8f78032d4030ce4d">pcl::JointIterativeClosestPoint::~JointIterativeClosestPoint</a></div><div class="ttdeci">virtual ~JointIterativeClosestPoint()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> joint_icp.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_af498fe8ed571ec7563a61eca96497046"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#af498fe8ed571ec7563a61eca96497046">pcl::JointIterativeClosestPoint::clearInputTargets</a></div><div class="ttdeci">void clearInputTargets()</div><div class="ttdoc">Reset my list of input targets</div><div class="ttdef"><b>Definition:</b> joint_icp.h:199</div></div>
<div class="ttc" id="aclasspcl_1_1_joint_iterative_closest_point_html_afaf2657a7501d3a83130b2fd79876705"><div class="ttname"><a href="classpcl_1_1_joint_iterative_closest_point.html#afaf2657a7501d3a83130b2fd79876705">pcl::JointIterativeClosestPoint::addInputTarget</a></div><div class="ttdeci">void addInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Add a target cloud to the joint solver</div><div class="ttdef"><b>Definition:</b> joint_icp.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a1e493af70763e05bcaf5ecd0ed7be63d"><div class="ttname"><a href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">pcl::Registration&lt; PointSource, PointTarget, float &gt;::reg_name_</a></div><div class="ttdeci">std::string reg_name_</div><div class="ttdoc">The registration method name.</div><div class="ttdef"><b>Definition:</b> registration.h:482</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a26eae6a42450893ca1c2ed81560159f2"><div class="ttname"><a href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">pcl::Registration&lt; PointSource, PointTarget, float &gt;::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Abstract class get name method.</div><div class="ttdef"><b>Definition:</b> registration.h:422</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a></div><div class="ttdoc">Abstract CorrespondenceEstimationBase class. All correspondence estimation methods should inherit fro...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt; PointTarget &gt;</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_05a7d3fa63398329a063418701e459b8.html">registration</a></li><li class="navelem"><a class="el" href="dir_4ae07afb78675be4cbd22b293e4a6696.html">include</a></li><li class="navelem"><a class="el" href="dir_2fef8963f1cfbd0f6472a197f46a93e4.html">pcl</a></li><li class="navelem"><a class="el" href="dir_003a12cd6c43fd0e3458933fbdf52053.html">registration</a></li><li class="navelem"><b>joint_icp.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
